Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Citation - WoS: 6Citation - Scopus: 6Investigation of Longitudinal Friction Characteristics of an Omnidirectional Wheel Via Lugre Model(Cambridge University Press, 2021) Şahin, Osman Nuri; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Şahin, Osman Nuri; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringIn recent years, omnidirectional wheels have found more applications in the design of automated guided vehicles (AGV). In this work, LuGre friction model is used for an omnidirectional wheel. A test setup that includes a single omnidirectional wheel is designed and constructed to identify the model parameters. With the help of the constructed test setup, the longitudinal friction characteristic of the omnidirectional wheel is obtained, and the model is verified via validation tests. In addition, for the first time, the effect of lateral frictional force on longitudinal motion is examined for an omnidirectional wheel through experiments.Conference Object Citation - Scopus: 2Fault-Tolerance Experiments With a Kinematically Redundant Holonomic Mobile Robot(Springer Verlag, 2018) Şahin, Osman Nuri; Çelik, Onur; Dede, Mehmet İsmet Can; Şahin, Osman Nuri; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringIndoor locomotion with mobile robots has found applications in industrial part moving, factory floor investigation and cleaning tasks. Holonomic mobile robots have the advantage of moving in tight and winding passages without the need of steering. In this study, a four omni-directional wheeled mobile robot is considered. The mobile robot is kinematically redundant having four of these wheels and this is used in providing fault-tolerance due to a malfunction in one of the wheels. In this paper, the redundancy resolution for this mobile robot is explained providing a solution to a fault in one of the wheels during operation. A top level controller to compensate for the orientation errors is introduced. Finally experimental set-up is presented along with the result of the fault-tolerance experiments.